//
// Created by apple on 2025/4/20.
//

#ifndef PID_H
#define PID_H

typedef struct {
    float kp;
    float ki;
    float kd;

    float prev_error;
    float integral;
} PID_t;

float PID_Compute(PID_t *pid, float target, float measured);


#endif //PID_H
